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To build a new wireless robotic capsule endoscope with external guidance for controllable and interactive GI tract examination, a sensing system is needed for tracking 3D location and 2D orientation of the capsule movement. An appropriate sensing approach is to enclose a small permanent magnet in the capsule. The magnet establishes a magnetic field around the patient's body. With the sensing data of magnetic sensor array outside the patient's body, the 3D location and 2D orientation of the capsule can be calculated. Higher localization and orientation accuracy can be obtained if more sensors and proper optimization algorithm are applied. In this paper, different nonlinear optimization algorithms are evaluated, and we have found that Levenberg-Marquardt method provides higher accuracy and faster speed. Simulations were done for investigating the de-noise ability of this algorithm based on different sensor arrays. Furthermore, the real experiment shows that the results are satisfactory with high accuracy.
Hu et al. (Sat,) studied this question.